相关论文: A Safe Preference Learning Approach for Personaliz…

Learning from Preferences in Reinforcement Learning (PbRL) has gained attention recently, as it serves as a natural fit for complicated tasks where the reward function is not easily available. However, preferences often come with…

Preference learning is critical for aligning large language models (LLMs) with human values, with the quality of preference datasets playing a crucial role in this process. While existing metrics primarily assess data quality based on…

Preference-aligned robot navigation in human environments is typically achieved through learning-based approaches, utilizing user feedback or demonstrations for personalization. However, personal preferences are subject to change and might…

Multi-objective reinforcement learning (MORL) approaches have emerged to tackle many real-world problems with multiple conflicting objectives by maximizing a joint objective function weighted by a preference vector. These approaches find…

Recent advancements in LLMs have revolutionized motion generation models in embodied applications. While LLM-type auto-regressive motion generation models benefit from training scalability, there remains a discrepancy between their token…

We study the adaptive control of an unknown linear system with a quadratic cost function subject to safety constraints on both the states and actions. The challenges of this problem arise from the tension among safety, exploration,…

Continual learning aims to learn multiple tasks sequentially. A key challenge in continual learning is balancing between two objectives: retaining knowledge from old tasks (stability) and adapting to new tasks (plasticity). Experience…

We propose Trusted Neural Network (TNN) models, which are deep neural network models that satisfy safety constraints critical to the application domain. We investigate different mechanisms for incorporating rule-based knowledge in the form…

Signal temporal logic (STL) is an expressive language to specify time-bound real-world robotic tasks and safety specifications. Recently, there has been an interest in learning optimal policies to satisfy STL specifications via…

Robust prediction of citywide traffic flows at different time periods plays a crucial role in intelligent transportation systems. While previous work has made great efforts to model spatio-temporal correlations, existing methods still…

This paper presents a novel two-level control architecture for a fully autonomous vehicle in a deterministic environment, which can handle traffic rules as specifications and low-level vehicle control with real-time performance. At the top…

Ensuring that reinforcement learning (RL) controllers satisfy safety and reliability constraints in real-world settings remains challenging: state-avoidance and constrained Markov decision processes often fail to capture trajectory-level…

We address the problem of learning human-interpretable descriptions of a complex system from a finite set of positive and negative examples of its behavior. In contrast to most of the recent work in this area, which focuses on descriptions…

Recent advancements in text-to-speech (TTS) have shown that language model (LM)-based systems offer competitive performance to their counterparts. Further optimization can be achieved through preference alignment algorithms, which adjust…

We study active preference learning as a framework for intuitively specifying the behaviour of autonomous robots. In active preference learning, a user chooses the preferred behaviour from a set of alternatives, from which the robot learns…

Shaping powerful LLMs to be beneficial and safe is central to AI alignment. We argue that post-training alignment is fundamentally a unified Preference Learning problem, involving two modalities: demonstrated preferences (e.g., Supervised…

Signal Temporal Logic (STL) is a powerful framework for describing the complex temporal and logical behaviour of the dynamical system. Numerous studies have attempted to employ reinforcement learning to learn a controller that enforces STL…

Researchers have been studying approaches to steer the behavior of Large Language Models (LLMs) and build personalized LLMs tailored for various applications. While fine-tuning seems to be a direct solution, it requires substantial…

Accurate risk quantification and reachability analysis are crucial for safe control and learning, but sampling from rare events, risky states, or long-term trajectories can be prohibitively costly. Motivated by this, we study how to…

Lane keeping in autonomous driving systems requires scenario-specific weight tuning for different objectives. We formulate lane-keeping as a constrained reinforcement learning problem, where weight coefficients are automatically learned…